Bionic mechanical leg

Abstract

The application discloses a bionic mechanical leg, which comprises a hip joint movement assembly, a leg driving assembly and a mechanical leg assembly. The hip joint movement assembly is provided with a hip joint motor. The leg driving assembly is connected in series at the output end of the hip joint motor, and the hip joint motor is used to realize the adduction and abduction movement of the hip joint. The leg driving assembly is provided with a transmission box. The mechanical leg assembly is connected with the output end of the transmission box. The mechanical leg assembly is provided with a thigh and a shank. The thigh and the shank are connected through a shank driving rod. The hip joint movement assembly, the leg driving assembly and the mechanical leg assembly are connected in series. The bionic mechanical leg is realized through the coupling of the hip joint movement mechanism and the leg movement mechanism. The bionic mechanical leg has the advantages of simple structure, convenient use and maintenance, flexible mechanical leg, strong terrain adaptability and the like, and can be used on robots and various bionic machine devices.

Description

Technical Field

[0001] This invention relates to the fields of mechanical manufacturing and mechanical leg technology, and more specifically, to a bionic mechanical leg. Background Technology

[0002] Currently, with the continuous development of technology, robots have penetrated into all aspects of human life. Bionic robots, as a popular branch of robotics, are showing increasingly prominent advantages in harsh environments such as emergency firefighting, disaster relief, space missions, and heavy object handling. The most important aspect of a bionic robot is its locomotion mechanism, namely its leg structure. Currently, bionic robots have wheeled, tracked, and legged leg structures. Wheeled and tracked bionic mechanical legs, due to their structural limitations, cannot adapt well to complex terrain and have poor mobility; therefore, more and more bionic robots are leaning towards legged locomotion mechanisms.

[0003] In the prior art, the bionic mechanical leg structures disclosed in patent applications 202111676656.1 and 202110146794.2 all use multiple joint actuators to drive the hip, knee, and ankle joints, achieving the movement of the mechanical leg through the control of these joint actuators. The mechanical leg solutions disclosed in these two patents have relatively complex mechanical structures, and the control design for the multiple joint actuators is also quite complex. This complex mechanical leg structure is not only detrimental to the practical application of the product, but also brings considerable trouble to the later maintenance and upkeep of the mechanical leg.

[0004] In summary, at least one of the following technical problems exists:

[0005] Existing robotic legs have complex structures and the control design of multiple joint actuators is also quite complicated, which is not conducive to practical applications and makes maintenance inconvenient. Summary of the Invention

[0006] The main objective of this invention is to provide a bionic mechanical leg and its usage method, in order to solve the technical problems of existing mechanical legs having complex structures, complex control designs for multiple joint actuators, which are not conducive to practical application and are inconvenient to maintain.

[0007] To achieve the above objectives, according to one aspect of the present invention, a bionic mechanical leg is provided, comprising:

[0008] A hip joint motion assembly, the hip joint motion assembly having a hip joint motor;

[0009] A leg drive assembly is connected in series with the output end of a hip joint motor to realize hip joint adduction and abduction movements through the hip joint motor. The leg drive assembly has a transmission box.

[0010] A mechanical leg assembly, which is connected to the output end of a transmission box, has a thigh and a lower leg, and the thigh and lower leg are connected by a lower leg drive rod;

[0011] The hip joint motion component, leg drive component, and mechanical leg component are connected in series.

[0012] Preferably, the leg drive assembly includes:

[0013] Motor mount;

[0014] A leg drive motor, wherein the leg drive motor is mounted on a motor base;

[0015] A transmission box, which is connected to the leg drive motor.

[0016] Preferably, the mechanical leg assembly includes:

[0017] Inner thigh plate;

[0018] The lateral thigh plate is disposed opposite to the medial thigh plate.

[0019] Side plate connecting column, one end of which is connected to the inner thigh plate and the other end of which is connected to the outer thigh plate;

[0020] The lower leg drive shaft is connected to the gear shaft;

[0021] Lower leg drive rod, one end of which is connected to the lower leg drive shaft; and

[0022] The lower leg is connected to the lower leg drive rod.

[0023] Preferably, the transmission box includes:

[0024] The transmission housing serves as a fixed planetary carrier;

[0025] A gear shaft, located inside the transmission housing, is connected to a leg drive motor;

[0026] Planetary gears, wherein the central shaft of the planetary gears is connected to the gearbox housing, and the planetary gears can rotate around the central shaft;

[0027] The gear ring, the inner side of which meshes with the planetary gear, is connected to the inner thigh plate;

[0028] The gear shaft rotates in the opposite direction to the gear ring.

[0029] Preferably, the transmission box includes:

[0030] Transmission housing;

[0031] A synchronous belt pulley shaft, which is connected to the output end of a leg drive motor;

[0032] A timing pulley, wherein the timing pulley is mounted on a timing pulley shaft;

[0033] The bearing is arranged around the synchronous belt pulley, with the inner ring of the bearing fixed to the outer shell of the transmission box and the outer ring of the bearing rotatable.

[0034] Synchronous belt internal gear ring, which is arranged around the bearing and connected to the inner thigh plate;

[0035] The synchronous belt is an annular synchronous belt, which is arranged in a C-shaped structure around the bearing. Its inner side meshes with the synchronous pulley, and its outer side meshes with the inner gear ring of the synchronous belt.

[0036] In this configuration, the synchronous pulley and the internal gear ring of the synchronous belt rotate in opposite directions.

[0037] Preferably, the inner thigh plate is connected to the toothed ring.

[0038] Preferably, the lower leg drive shaft is connected to the gear shaft.

[0039] Preferably, the lower leg flexes when the thigh is raised and extends when the thigh is extended.

[0040] Preferably, a cavity structure is formed between the inner thigh plate and the outer thigh plate.

[0041] According to another aspect of the present invention, a method of using a bionic mechanical leg is provided, comprising:

[0042] The gait is fastened by the inner thigh plate and the planetary gear mechanism ring, and by the lower leg drive shaft and the gear shaft. The gear shaft rotates in the opposite direction to the gear ring. When the thigh lifts, the lower leg flexes; when the thigh extends, the lower leg also extends, thus completing the entire gait movement.

[0043] The technical solution of this invention has the following technical effects:

[0044] The bionic mechanical leg is fastened to the inner thigh plate and the planetary gear mechanism ring, and to the lower leg drive shaft and the gear shaft. The gear shaft rotates in the opposite direction to the gear ring. When the thigh lifts, the lower leg flexes; when the thigh extends, the lower leg extends, completing the entire gait movement. The coupling of the hip joint motion mechanism and the leg motion mechanism enables the flexible movement of the bionic mechanical leg. It has a simple structure, is easy to use and maintain, is flexible, and has strong adaptability to terrain. It can be used in robots and various bionic machine equipment. Attached Figure Description

[0045] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0046] Figure 1 A schematic diagram of the structure of the bionic mechanical leg according to the present invention is shown;

[0047] Figure 2 It shows Figure 1 Connection diagram of the leg drive component of the bionic mechanical leg in the image;

[0048] Figure 3 It shows Figure 1 Internal structure diagram of the transmission box of the bionic mechanical leg in the image;

[0049] Figure 4 It shows Figure 1 A view of the transmission box of the bionic mechanical leg in the image, taken from direction A.

[0050] Figure 5 It shows Figure 1 A view of the bionic mechanical leg component in the image;

[0051] Figure 6 It shows Figure 1 A diagram showing the connection between the bionic mechanical leg component and the leg drive component in the image.

[0052] Figure 7 It shows Figure 1 A view of the lower leg flexion state of the bionic mechanical leg in the image;

[0053] Figure 8 It shows Figure 1 A view of the lower leg extension state of the bionic mechanical leg in the image;

[0054] Figure 9 It shows Figure 1 A view of a transmission box alternative for the bionic mechanical leg in the image.

[0055] The above figures include the following reference numerals:

[0056] Hip joint motion assembly 1; hip joint motor 2; leg drive assembly 3; motor base 4; leg drive motor 5; transmission box 6; transmission box housing 7; gear ring 8; gear shaft 9; planetary gear 10; synchronous belt internal gear ring 11; synchronous belt pulley 12; synchronous belt 13; synchronous belt pulley shaft 14; bearing 15; mechanical leg assembly 16; inner thigh plate 17; lower leg drive shaft 18; lower leg drive rod 19; side plate connecting column 20; outer thigh plate 21; lower leg 22. Detailed Implementation

[0057] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0058] like Figures 1 to 9 As shown, this embodiment of the invention provides a bionic mechanical leg, comprising: a hip joint motion component 1, the hip joint motion component 1 having a hip joint motor 2; a leg drive component 3, the leg drive component 3 being connected in series to the output end of the hip joint motor 2, the hip joint motor 2 realizing hip adduction and abduction movements, the leg drive component 3 having a transmission box 6; and a mechanical leg component 16, the mechanical leg component 16 being connected to the output end of the transmission box 6, the mechanical leg component 16 having a thigh and a lower leg 22, the thigh and the lower leg 22 being connected by a lower leg drive rod 19; the hip joint motion component 1, the leg drive component 3, and the mechanical leg component 16 are connected in series.

[0059] The mechanical leg technical solution of the present invention mainly includes: a hip joint motion component 1, a leg drive component 3, and a mechanical leg component 16. The hip joint motion component 1, the leg drive component 3, and the mechanical leg component 16 are connected in series. The hip joint motor 2 is fixed on the fixed base. The leg drive component 3 and the mechanical leg component 16 are connected in series to realize the adduction and abduction movements of the entire mechanical leg. The motor of the leg drive component 3 is fixed to the output end of the motor base 4 and connected to the transmission box 6. The mechanical leg component 16 is connected to the output end of the transmission box 6.

[0060] In this embodiment, the hip joint motion component 1 has a hip joint motor 2. The hip joint motion component 1 includes a hip joint servo motor and a motor fixing plate. The hip joint servo motor is fixed on the motor fixing plate. The adduction and abduction movements of the entire mechanical leg are realized by driving the hip joint servo motor.

[0061] In this embodiment, the leg drive assembly 3 includes a leg drive motor 5, a motor base 4, and a transmission box 6. The leg drive motor 5 is fixed to the motor base 4 and connected to the output end of the hip joint drive motor through the motor base 4, thereby realizing the adduction and abduction movements of the entire mechanical leg driven by the hip joint servo motor. The leg drive assembly 3 is connected in series to the output end of the hip joint motor 2, realizing the adduction and abduction movements of the hip joint through the hip joint motor 2. The leg drive assembly 3 has a transmission box 6. The leg drive assembly includes: a motor base 4; a leg drive motor 5, which is mounted on the motor base 4; and a transmission box 6 including a gear shaft 9, planetary gears 10, a gear ring 8, and a transmission box housing 7. The transmission box 6 is connected to the leg drive motor 5 and includes: a transmission box housing 7, which serves as a fixed planetary carrier; and a gear shaft 9, which is located in the transmission box housing 7. The wheel shaft 9 is connected to the output end of the leg drive motor 5; the planetary gear 10 is arranged around the gear shaft 9 and meshes with the gear shaft 9; the gear ring 8 meshes with the planetary gear 10 on its inner side and is connected to the inner thigh plate 17; the gear shaft 9 rotates in the opposite direction to the gear ring 8, and the output end of the leg drive motor 5 is connected to the gear shaft 9 of the transmission box 6; the transmission box housing 7 is fixed to the motor mounting base and serves as a fixed planetary carrier hinge to connect the planetary gear 10; the gear shaft 9, planetary gear 10, and gear ring 8 form a planetary gear structure with the sun gear as the active component, the planetary carrier as the fixed component, and the gear ring 8 as the passive component. The gear ring 8 of the planetary gear structure is connected to the thigh of the leg movement mechanism to realize the extension and flexion movements of the thigh. The gear shaft 9 is connected to the drive shaft of the lower leg 22, which in turn drives the lower leg drive rod 19 to realize the extension and flexion movements of the lower leg 22.

[0062] In this embodiment, the mechanical leg assembly 16 includes an inner thigh plate 17, an outer thigh plate 21, a lower leg 22, a lower leg drive shaft 18, a lower leg drive rod 19, and a side plate connecting post 20. The mechanical leg assembly 16 is connected to the output end of the transmission box 6. The mechanical leg assembly 16 has a thigh and a lower leg 22, which are connected by the lower leg drive rod 19. The mechanical leg assembly 16 includes: an inner thigh plate 17; an outer thigh plate 21, which is disposed opposite to the inner thigh plate 17; a side plate connecting post 20, one end of which is connected to the inner thigh plate 17, and the other end of which is connected to the outer thigh plate 21; and a lower leg drive shaft 18. Shaft 18, the lower leg drive shaft 18 is connected to the gear shaft 9 of the transmission box; lower leg drive rod 19, one end of the lower leg drive rod 19 is connected to the lower leg drive shaft 18; lower leg 22, the lower leg 22 is connected to the lower leg drive rod 19, the inner thigh plate 17 is connected to the gear ring 8, the lower leg drive shaft 18 is connected to the gear shaft 9. When the thigh lifts, the lower leg 22 flexes; when the thigh extends, the lower leg 22 extends. A cavity structure is formed between the inner thigh plate 17 and the outer thigh plate 21. The hip joint motion component 1, the leg drive component 3, and the mechanical leg component 16 are connected in series. The coupling of the hip joint motion mechanism and the leg motion mechanism realizes the flexible movement of the bionic mechanical leg.

[0063] In another embodiment of the present invention, based on embodiment 1, the transmission box 6 is replaced. The replaced transmission box 6 includes: a transmission box housing 7; a synchronous pulley shaft 14, which is connected to the output end of the leg drive motor 5; a synchronous pulley 12 mounted on the synchronous pulley shaft 14; a bearing 15, which surrounds the synchronous pulley 12, with its inner ring fixed to the transmission box housing 7 and its outer ring rotatable; a synchronous belt internal gear ring 11, which surrounds the bearing 15; and a synchronous belt 13, which surrounds the bearing 15 in a C-shaped structure, with its inner side meshing with the synchronous pulley 12 and its outer side meshing with the synchronous belt internal gear ring 11; wherein the synchronous pulley 12 and the synchronous belt internal gear ring 11 rotate in opposite directions. The synchronous belt pulley shaft 14 and the synchronous belt internal gear ring 11 rotate in opposite directions via a pulley. The output end of the leg drive motor 5 is connected to the synchronous belt pulley shaft 14, and a synchronous pulley 12 is mounted on the synchronous pulley shaft 14. A rotating bearing 15 is fixed on the transmission housing 7. The original gear ring 8 is replaced with the synchronous belt internal gear ring 11. After the synchronous belt 13 meshes with the synchronous pulley 12, it bypasses the bearing 15 and meshes with the synchronous belt internal gear ring 11, thereby achieving the reverse rotation of the synchronous pulley 12 and the synchronous belt internal gear ring 11.

[0064] Another embodiment of the present invention provides a method for using a mechanical leg, comprising:

[0065] The inner thigh plate 17 is fastened to the planetary gear mechanism gear ring 8, and the lower leg drive shaft 18 is fastened to the gear shaft 9. The gear shaft 9 rotates in the opposite direction to the gear ring 8. When the thigh lifts, the lower leg 22 flexes, and when the thigh extends, the lower leg 22 also extends, completing the entire gait movement.

[0066] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0067] The inner thigh plate 17 is fastened to the planetary gear mechanism ring 8, and the lower leg drive shaft 18 is fastened to the gear shaft 9. The gear shaft 9 rotates in the opposite direction to the gear ring 8. When the thigh lifts, the lower leg 22 flexes; when the thigh extends, the lower leg 22 also extends, completing the entire gait movement. The coupling of the hip joint motion mechanism and the leg motion mechanism realizes the flexible movement of the bionic mechanical leg. It has a simple structure, is easy to use and maintain, is flexible, and has strong adaptability to terrain. It can be used in robots and various bionic machine equipment.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A bionic mechanical leg, characterized in that, include: A hip joint motion assembly, the hip joint motion assembly having a hip joint motor; A leg drive assembly is connected in series with the output end of a hip joint motor to realize hip joint adduction and abduction movements through the hip joint motor. The leg drive assembly has a transmission box. A mechanical leg assembly, which is connected to the output end of a transmission box, has a thigh and a lower leg, and the thigh and lower leg are connected by a lower leg drive rod; The hip joint motion component, leg drive component, and mechanical leg component are connected in series. The transmission box includes: The transmission housing serves as a fixed planetary carrier; A gear shaft, located inside the transmission housing, is connected to a leg drive motor; Planetary gears, wherein the central shaft of the planetary gears is connected to the gearbox housing, and the planetary gears can rotate around the central shaft; A gear ring, the inner side of which meshes with a planetary gear, and the gear ring is connected to the inner thigh plate; The gear shaft rotates in the opposite direction to the gear ring.

2. The bionic mechanical leg as described in claim 1, characterized in that, The leg drive assembly includes: Motor mount; A leg drive motor, wherein the leg drive motor is mounted on a motor base; A transmission box, which is connected to the leg drive motor.

3. The bionic mechanical leg as described in claim 1, characterized in that, The mechanical leg assembly includes: Inner thigh plate; The lateral thigh plate is disposed opposite to the medial thigh plate. Side plate connecting column, one end of which is connected to the inner thigh plate and the other end of which is connected to the outer thigh plate; The lower leg drive shaft is connected to the gear shaft; Lower leg drive rod, one end of which is connected to the lower leg drive shaft; and The lower leg is connected to the lower leg drive rod.

4. The bionic mechanical leg as described in claim 1, characterized in that, When the thigh is raised, the lower leg bends; when the thigh is extended, the lower leg extends.

5. The bionic mechanical leg as described in claim 1, characterized in that, A cavity structure is formed between the inner thigh plate and the outer thigh plate.

6. A bionic mechanical leg, characterized in that, include: A hip joint motion assembly, the hip joint motion assembly having a hip joint motor; A leg drive assembly is connected in series with the output end of a hip joint motor to realize hip joint adduction and abduction movements through the hip joint motor. The leg drive assembly has a transmission box and includes a leg drive motor. A mechanical leg assembly, which is connected to the output end of a transmission box, has a thigh and a lower leg, which are connected by a lower leg drive rod, and the thigh includes an inner thigh plate. The hip joint motion component, leg drive component, and mechanical leg component are connected in series. The transmission box includes: Transmission housing; A synchronous belt pulley shaft, which is connected to the output end of a leg drive motor; A timing pulley, wherein the timing pulley is mounted on a timing pulley shaft; The bearing is arranged around the synchronous belt pulley and fixed to the housing of the transmission box; Synchronous belt internal gear ring, which is arranged around the bearing and connected to the inner thigh plate; The synchronous belt is an annular synchronous belt, which is arranged in a C-shaped structure around the bearing. Its inner side meshes with the synchronous pulley, and its outer side meshes with the inner gear ring of the synchronous belt. In this configuration, the synchronous pulley and the internal gear ring of the synchronous belt rotate in opposite directions.

7. The bionic mechanical leg as described in claim 6, characterized in that, The leg drive assembly includes: Motor mount; A leg drive motor, wherein the leg drive motor is mounted on a motor base; A transmission box, which is connected to the leg drive motor.

8. The bionic mechanical leg as described in claim 6, characterized in that, The mechanical leg assembly includes: Inner thigh plate; The lateral thigh plate is disposed opposite to the medial thigh plate. Side plate connecting column, one end of which is connected to the inner thigh plate and the other end of which is connected to the outer thigh plate; Lower leg drive rod, the lower leg drive rod being connected to the lower leg; The lower leg is connected to the lower leg drive rod.

9. A method of using a bionic mechanical leg, based on the bionic mechanical leg according to any one of claims 1-5, characterized in that, include: The gait is fastened by the inner thigh plate and the planetary gear mechanism ring, and by the lower leg drive shaft and the gear shaft. The gear shaft rotates in the opposite direction to the gear ring. When the thigh lifts, the lower leg flexes; when the thigh extends, the lower leg also extends, thus completing the entire gait movement.

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